function [ MPC_struct ] = MPCSoftBounds( MPC_struct, lb_w, ub_w, wApply )
%[ MPC_struct ] = MPCSoftBounds( MPC_struct, lb_w, ub_w, wApply )

MPC_struct=addMPClb_w(MPC_struct,lb_w);
MPC_struct=addMPCub_w(MPC_struct,ub_w);
MPC_struct=addMPCwApply(MPC_struct,wApply);
end

